CN108570912A - A kind of milling machine production calculation system and method based on RTK - Google Patents
A kind of milling machine production calculation system and method based on RTK Download PDFInfo
- Publication number
- CN108570912A CN108570912A CN201810460068.6A CN201810460068A CN108570912A CN 108570912 A CN108570912 A CN 108570912A CN 201810460068 A CN201810460068 A CN 201810460068A CN 108570912 A CN108570912 A CN 108570912A
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- China
- Prior art keywords
- milling
- rtk
- milling machine
- hosts
- calculation system
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
- E01C23/08—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades
- E01C23/085—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades using power-driven tools, e.g. vibratory tools
- E01C23/088—Rotary tools, e.g. milling drums
Abstract
The invention discloses a kind of milling machine production calculation system based on RTK, including milling railcar body, milling machine controller and RTK hosts, the milling railcar body are that RTK hosts install carrier, and the RTK hosts are fixedly installed in milling machine driver's cabin roof；The milling machine controller is connected by CAN bus with RTK hosts, and the real-time positioning information of RTK hosts transmission is received.The present invention can accurately calculate milling machine milling yield.
Description
Technical field
The present invention relates to a kind of milling machine production calculation system and method based on RTK.
Background technology
The development of modern science and technology has greatly pushed and has intersected between different subjects and permeate, resulted in almost institute
There are the technological revolution and transformation of engineering field, longitudinal differentiation, the laterally comprehensive important feature for having become contemporary science and technology development.
During road milling, need to carry out comprehensive investigation and accurate calculating to milling machine yield, in the hope of during milling
Safety and reliability, be badly in need of a kind of method accurately calculating milling machine yield thus.
Invention content
In view of the above-mentioned problems, the milling machine production calculation system that the invention discloses a kind of based on RTK system and calculating side
Method can accurately calculate the milling machine yield of milling machine.
To realize above-mentioned technical purpose and the technique effect, this product invention is realized by scheme once：
A kind of milling machine production calculation system based on RTK, it is characterised in that：Including milling railcar body, milling machine controller and
RTK hosts, the milling railcar body are that RTK hosts install carrier, and the RTK hosts are fixedly installed in milling machine driver's cabin roof
Portion；The milling machine controller is connected by CAN bus with RTK hosts, and the real-time positioning information of RTK hosts transmission is received, and
Calculate practical travel distance and lateral movement.
The milling railcar body can be large-scale milling machine and small-sized milling machine.The RTK hosts external connection control interface
It is installed in milling machine driver's cabin, the RTK hosts are equipped with antenna.
The RTK hosts are in communication with each other by locating module and GPS satellite.
RTK hosts carry out the communications of data with GPS satellite by data transmission module.
Further include an oil cylinder inbuilt displacement sensor being installed in milling machine support oil cylinder, is passed by oil cylinder inbuilt displacement
Sensor directly obtains the displacement of milling machine supporting leg, and is converted into milling depth.
Oil cylinder inbuilt displacement sensor and the input port of milling machine controller are directly connected to, by milling machine controller to oil
The data that cylinder inbuilt displacement sensor obtains are converted.
Milling machine controller integrates the location information of current milling rolling stock and the actual grade and milling width of milling,
Calculate accurate milling yield.
A kind of milling machine Production rate method based on RTK, it is characterised in that：Include the following steps：
If the milling machine speed of travel is v, running time is t at such speeds, and milling and planing drum width is H, and t1, t2 are respectively for the first time
Milling time and second of milling time, V1, V2 are respectively first time milling theoretical yield and second of milling theoretical yield；It is logical
The detection of RTK technologies is crossed, detects that center is x1 for the first time, second of inspection center position is x2, and milling depth is l；
Step 1, if x2-x1>H jumps to step 2；If x2-x1<H jumps to step 3；
Step 2, milling yield V=v*t1*l+ v*t2*l are calculated, step 4 is jumped to；
Step 3, milling yield V=V1+V2- (x2-x1) * v*t*l are calculated, step 4 is jumped to；
Step 4, judge whether that milling is completed, if not completing, jump to step 1 and calculated again.
The beneficial effects of the invention are as follows：
First, the absolute distance of milling machine walking is accurately calculated, avoids influencing to produce because milling and planing drum width gauge calculates wrong factor
The calculating of amount.
Second, by using RTK system, it is possible to reduce construction personnel's workload, and avoid and go out in measurement process
Existing human error.
Description of the drawings
Fig. 1 is a kind of milling machine automatically transporting materials system structure frame of view-based access control model identification of the present invention.
1-RTK hosts in Fig. 1,2- milling railcar bodies.
Fig. 2 is the road surface that the first knife of milling machine and the second knife wash, and O is RTK reference stations, and continuous observation is carried out to satellite,
X1 and X2 is that vehicle-mounted RTK detects that the central point on road surface is crossed in milling twice respectively.
Specific implementation mode
Technical solution of the present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings, so that ability
The technical staff in domain can be better understood from the present invention and can be practiced, but illustrated embodiment is not as the limit to the present invention
It is fixed.
As shown in Figure 1, a kind of milling machine production calculation system based on RTK system, including milling railcar body 2, milling machine
Controller, RTK hosts 1.The milling railcar body is that RTK hosts install carrier, there is RTK hosts peace at the top of milling machine driver's cabin
It shelves, the RTK hosts are fixedly installed in milling machine driver's cabin roof, and the milling machine controller passes through CAN bus and RTK
Host is connected, and receives the real-time positioning information of RTK hosts transmission, and calculates practical travel distance and lateral movement.
Further include an oil cylinder inbuilt displacement sensor, the displacement of supporting leg can be directly obtained, and is converted into milling depth.
And the input port of the sensor and controller is directly connected to, and is converted to data by controller.
Milling machine controller integrates the location information of current vehicle and the actual grade and milling width of milling, calculates
Go out accurate milling yield.
It is preferred that the RTK hosts are connected by locating module with GPS satellite.
It is preferred that the RTK hosts carry out the transmission of data with GPS satellite by data transmission module.
It is preferred that the RTK hosts are connected by CAN bus with milling machine controller.
As shown in Fig. 2, a kind of milling machine Production rate method based on RTK, it is characterised in that：Include the following steps：
Assuming that the milling machine speed of travel is v, running time is t at such speeds, and milling and planing drum width is 2m, and t1, t2 are respectively the
Milling time and second of milling time, V1, V2 are respectively first time milling theoretical yield and second of milling theory production
Amount.Pass through RTK（Real-Time Kinematic, real-time requiring）Technology detects, and detects that center is for the first time
X1, second of inspection center position are x2, and milling depth is l.
Step 1, if x2-x1>2m jumps to step 2.If x2-x1<2m jumps to step 3.
Step 2, milling yield is V=v*t1*l+ v*t2*l.Jump to step 4.
Step 3, milling yield is V=V1+V2- (x2-x1) * v*t*l, jumps to step 4.
Step 4, if milling is completed, if not completing, jumps to step 1.
The milling machine Production rate method based on RTK can automatically record milling machine milling working ways by RTK hosts
Diameter, RTK hosts are connected by CAN bus with milling machine controller can detect milling machine walking absolute distance in real time, accurate to count
Calculate milling machine milling yield.
Claims (7)
1. a kind of milling machine production calculation system based on RTK, it is characterised in that：Including milling railcar body, milling machine controller
With RTK hosts, the milling railcar body is that RTK hosts install carrier, and the RTK hosts are fixedly installed in milling machine driver's cabin vehicle
Top；The milling machine controller is connected by CAN bus with RTK hosts, and the real-time positioning information of RTK hosts transmission is received.
2. the milling machine production calculation system according to claim 1 based on RTK, it is characterised in that：The RTK hosts
It is in communication with each other by locating module and GPS satellite.
3. the milling machine production calculation system according to claim 1 based on RTK, it is characterised in that：RTK hosts and GPS
Passing of satelline data transmission module carries out the communications of data.
4. the milling machine production calculation system according to claim 1 based on RTK, it is characterised in that：It further include an installation
In the oil cylinder inbuilt displacement sensor in milling machine support oil cylinder, milling machine branch is directly obtained by oil cylinder inbuilt displacement sensor
The displacement of leg, and it is converted into milling depth.
5. the milling machine production calculation system according to claim 4 based on RTK, it is characterised in that：Oil cylinder inbuilt displacement
The input port of sensor and milling machine controller is directly connected to, and is obtained to oil cylinder inbuilt displacement sensor by milling machine controller
Data converted.
6. the milling machine production calculation system according to claim 4 based on RTK, it is characterised in that：Milling machine controller
The location information of current milling rolling stock and the actual grade and milling width of milling are integrated, accurate milling production is calculated
Amount.
7. a kind of milling machine Production rate method based on RTK, it is characterised in that：Include the following steps：
If the milling machine speed of travel is v, running time is t at such speeds, and milling and planing drum width is H, and t1, t2 are respectively for the first time
Milling time and second of milling time, V1, V2 are respectively first time milling theoretical yield and second of milling theoretical yield；It is logical
The detection of RTK technologies is crossed, detects that center is x1 for the first time, second of inspection center position is x2, and milling depth is l；
Step 1, if x2-x1>H jumps to step 2；If x2-x1<H jumps to step 3；
Step 2, milling yield V=v*t1*l+ v*t2*l are calculated, step 4 is jumped to；
Step 3, milling yield V=V1+V2- (x2-x1) * v*t*l are calculated, step 4 is jumped to；
Step 4, judge whether that milling is completed, if not completing, jump to step 1 and calculated again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810460068.6A CN108570912A (en) | 2018-05-15 | 2018-05-15 | A kind of milling machine production calculation system and method based on RTK |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810460068.6A CN108570912A (en) | 2018-05-15 | 2018-05-15 | A kind of milling machine production calculation system and method based on RTK |
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| CN108570912A true CN108570912A (en) | 2018-09-25 |
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| CN201810460068.6A Pending CN108570912A (en) | 2018-05-15 | 2018-05-15 | A kind of milling machine production calculation system and method based on RTK |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0547378A1 (en) * | 1991-11-15 | 1993-06-23 | MOBA-Electronic Gesellschaft für Mobil-Automation mbH | Ultrasonic-control device for a mobile milling machine |
| WO1999032726A1 (en) * | 1997-12-19 | 1999-07-01 | Wirtgen Gmbh | Method and device for milling road traffic surfaces |
| US6433866B1 (en) * | 1998-05-22 | 2002-08-13 | Trimble Navigation, Ltd | High precision GPS/RTK and laser machine control |
| CN102322015A (en) * | 2011-07-13 | 2012-01-18 | 三一重工股份有限公司 | Milling and planing machine and milling and planing machine control method |
| JP2013023864A (en) * | 2011-07-19 | 2013-02-04 | Nippo Corp | Method for setting construction thickness |
| CN102968138A (en) * | 2012-12-17 | 2013-03-13 | 中联重科股份有限公司 | Milling machine as well as method, device and system for controlling discharge speed of milling machine |
| CN103741575A (en) * | 2013-12-20 | 2014-04-23 | 湖南三一路面机械有限公司 | Milling machine and control system thereof |
| CN104483985A (en) * | 2014-12-09 | 2015-04-01 | 镇江市高等专科学校 | Initial milling control system of road surface milling machine |
| CN206553894U (en) * | 2017-01-13 | 2017-10-13 | 常延公 | A kind of road construction dolly test device based on RTK system |
-
2018
- 2018-05-15 CN CN201810460068.6A patent/CN108570912A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0547378A1 (en) * | 1991-11-15 | 1993-06-23 | MOBA-Electronic Gesellschaft für Mobil-Automation mbH | Ultrasonic-control device for a mobile milling machine |
| WO1999032726A1 (en) * | 1997-12-19 | 1999-07-01 | Wirtgen Gmbh | Method and device for milling road traffic surfaces |
| US6433866B1 (en) * | 1998-05-22 | 2002-08-13 | Trimble Navigation, Ltd | High precision GPS/RTK and laser machine control |
| CN102322015A (en) * | 2011-07-13 | 2012-01-18 | 三一重工股份有限公司 | Milling and planing machine and milling and planing machine control method |
| JP2013023864A (en) * | 2011-07-19 | 2013-02-04 | Nippo Corp | Method for setting construction thickness |
| CN102968138A (en) * | 2012-12-17 | 2013-03-13 | 中联重科股份有限公司 | Milling machine as well as method, device and system for controlling discharge speed of milling machine |
| CN103741575A (en) * | 2013-12-20 | 2014-04-23 | 湖南三一路面机械有限公司 | Milling machine and control system thereof |
| CN104483985A (en) * | 2014-12-09 | 2015-04-01 | 镇江市高等专科学校 | Initial milling control system of road surface milling machine |
| CN206553894U (en) * | 2017-01-13 | 2017-10-13 | 常延公 | A kind of road construction dolly test device based on RTK system |
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Application publication date: 20180925 |
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